CN114596721A - Vehicle driving control method and device, medium, and electronic device - Google Patents
Vehicle driving control method and device, medium, and electronic device Download PDFInfo
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- CN114596721A CN114596721A CN202111680470.3A CN202111680470A CN114596721A CN 114596721 A CN114596721 A CN 114596721A CN 202111680470 A CN202111680470 A CN 202111680470A CN 114596721 A CN114596721 A CN 114596721A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The disclosure provides a vehicle running control method, a vehicle running control device, a computer readable storage medium and an electronic device, and relates to the technical field of traffic safety. The method comprises the following steps: determining structural information corresponding to a target road, and determining a first control area according to obstacle information within the range of a second preset threshold value in the driving direction of a target vehicle under the condition that the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than a first preset threshold value, wherein the first preset threshold value is greater than the second preset threshold value; and controlling the display color of the traffic sign in the first control area so that the target vehicle travels based on the display color of the traffic sign, the traffic sign in the first control area including a lane line and a direction line. The scheme can improve the intelligent degree of traffic management, is favorable for improving traffic safety, and can also reduce the complexity of processing flow caused by the fact that the vehicle realizes the driving path decision.
Description
Technical Field
The present disclosure relates to the field of intelligent traffic technologies, and in particular, to a method and an apparatus for controlling vehicle driving, a computer-readable storage medium, and an electronic device.
Background
With the increasing pace of life and the increasing level of industrial production, automobiles have become more and more popular in the present society. Therefore, traffic management intellectualization is an important method for continuously improving urban traffic management. Meanwhile, in intelligent traffic management, the urban traffic road is continuously improved, and meanwhile, the intelligent traffic management system plays an important role in safety of pedestrians and vehicles.
The present disclosure provides a control scheme for vehicle driving to promote the intelligent degree of traffic management and be favorable to promoting the security of pedestrian and vehicle.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The present disclosure is directed to a method for controlling vehicle driving, a device for controlling vehicle driving, a computer-readable storage medium, and an electronic device, which can improve the intelligence of traffic management to a certain extent and facilitate the improvement of traffic safety, and at the same time, do not increase the complexity of a self-processing flow caused by the implementation of a driving route decision by a vehicle.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to an aspect of the present disclosure, there is provided a control method of vehicle travel, the method including: determining structural information corresponding to a target road, wherein the structural information comprises: position information of a target vehicle in the target road, obstacle information in a traveling direction of the target vehicle and within a range of a second preset threshold from the target vehicle; determining a first control area according to obstacle information within a range of a second preset threshold value in the driving direction of the target vehicle when the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than the first preset threshold value, wherein the first preset threshold value is greater than the second preset threshold value; and controlling a display color of a traffic sign in the first control area so that the target vehicle travels based on the display color of the traffic sign, the traffic sign in the first control area including a lane line and a direction line.
According to another aspect of the present disclosure, there is provided a control apparatus for running of a vehicle, the apparatus including: the device comprises a structural information acquisition module, a first control area determination module and a display control module.
Wherein, the above-mentioned structural information acquisition module is used for: determining structural information corresponding to the target road, wherein the structural information comprises: position information of a target vehicle in the target road, obstacle information in a traveling direction of the target vehicle and within a range of a second preset threshold from the target vehicle; the first control region determining module is configured to: determining a first control area according to obstacle information within a range of a second preset threshold value in the driving direction of the target vehicle when the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than the first preset threshold value, wherein the first preset threshold value is greater than the second preset threshold value; and, the display control module is configured to: and controlling the display color of the traffic sign in the first control area so that the target vehicle travels based on the display color of the traffic sign, wherein the traffic sign in the first control area includes a lane line and a direction line.
According to still another aspect of the present disclosure, there is provided an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the control method of vehicle travel as in the above embodiments when executing the computer program.
According to still another aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a control method of vehicle travel as in the above-described embodiments.
The control method for vehicle running, the control device for vehicle running, the computer readable storage medium and the electronic device provided by the embodiment of the disclosure have the following technical effects:
in the control scheme for vehicle driving provided by the embodiment of the present specification, structured information corresponding to a target road is determined by a roadside measuring device, and when it is determined according to the acquired structured information that a distance between the target vehicle and an intersection is greater than a first preset threshold, a first control area is determined according to obstacle information within a range of a second preset threshold in a driving direction of the target vehicle, and a display color of a traffic sign (a lane line and a direction line) within the first control area is controlled, so that the target vehicle drives based on the display color of the traffic sign. The scheme can improve the intelligent degree of traffic management and is favorable for improving traffic safety, and meanwhile, the complexity of the vehicle self processing flow is not increased.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Fig. 1 shows a schematic view of a scenario of a control scheme for vehicle driving in an exemplary embodiment of the present disclosure.
Fig. 2 shows a flowchart of a control method of vehicle travel in an exemplary embodiment of the present disclosure.
Fig. 3 shows a flowchart of a control method of vehicle travel in another exemplary embodiment of the present disclosure.
FIG. 4 is a control diagram illustrating traffic sign display in a traffic context in an exemplary embodiment of the present disclosure.
FIG. 5 is a traffic sign display control diagram in a traffic scenario according to another exemplary embodiment of the present disclosure.
Fig. 6a shows a schematic diagram of the distance between the target vehicle and the intersection in an exemplary embodiment of the disclosure.
Fig. 6b shows a schematic diagram of the distance between the target vehicle and the intersection in another exemplary embodiment of the disclosure.
FIG. 7 is a traffic sign display control diagram in a traffic scenario according to yet another exemplary embodiment of the present disclosure.
FIG. 8 is a control diagram illustrating traffic sign display in a traffic context according to yet another exemplary embodiment of the present disclosure.
Fig. 9 is a diagram illustrating an increase in display brightness for controlling a traffic sign in an exemplary embodiment of the present disclosure.
Fig. 10 is a schematic configuration diagram showing a control apparatus for vehicle running to which an embodiment of the present disclosure can be applied.
Fig. 11 is a schematic configuration diagram showing a control apparatus for vehicle running to which an embodiment of the present disclosure can be applied.
FIG. 12 shows a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more clear, embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings.
The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
Traffic signs refer to devices that transmit guidance, restriction, warning, or indication information through characters or symbols on road surfaces, signs, and the like. In traffic signs, safety, striking, clear and bright traffic signs are generally used as important measures for implementing traffic management and ensuring safety and smoothness of road traffic.
In the related art, the traffic sign needs to be passively viewed by the vehicle driver, and there are cases where the vehicle driver does not notice the relevant traffic sign. This technical scheme is through intelligent local control traffic sign for the traffic sign shows luminance and shows the colour according to actual conditions change, thereby plays the warning effect of initiatively reminding relevant personnel, and then promotes traffic safety more effectively.
The following describes in detail embodiments of a control method for vehicle driving provided by the present disclosure with reference to fig. 1 to 9:
fig. 1 is a schematic view illustrating a scene of a control scheme for vehicle driving according to an exemplary embodiment of the present disclosure.
Referring to fig. 1, in the control scheme for vehicle driving provided in the embodiments of the present disclosure, a plurality of measuring devices (e.g., cameras, lidar, speed radar, and other related sensors) 110 are disposed on both sides of a road to obtain measurement data. Further, the measurement data is processed to obtain structured information, so as to obtain information such as category, position, motion and the like of traffic participants (such as vehicles, pedestrians and the like) in the road. For example, structured information about a traffic participant may be represented as follows: { Position, Velocity, Type }, that is: location, travel speed, and type of traffic participant.
For another example, the structured information about traffic signs (lane markings 18, turn signs, stop lines 16, traffic lights, zebra crossings, speed limit signs, line height signs) in the road may be represented as follows: { Position, Lanes, Type, Status, KeyPoints, Polygons }. Wherein, the first and the second end of the pipe are connected with each other,
(a) the Position indicates the center Position of the marker line,
(b) lanes represents lane information associated with a sign line,
(c) the Type indicates the Type of the identity,
(d) status indicates the Status of the traffic sign, such as information of color, brightness, etc.;
(e) KeyPoints is used to identify key points, thereby enabling identification of complex identities,
(f) polygon identified outline information.
It should be noted that the structured information can be acquired in different information granularities according to the requirements of intellectualization and control degree, so as to meet the application requirements.
Further, the measurement data or the structured information may be transmitted to the data processor 130 through the network 120. Illustratively, the data processor 130 determines the control area through processing of the measured data/structured information, and controls the display color and/or display brightness of the traffic sign within the control area. For example, in a case where the target vehicle 100 is driven to an intersection of the road and the distance from the intersection is long, a control area is determined according to the obstacle information within the range of the second preset threshold in the driving direction of the target vehicle 100, and the display color of the traffic sign (the lane line and the direction line) within the control area is controlled so that the target vehicle 100 travels based on the display color of the traffic sign. Thereby promoting the intelligent degree of traffic management and being beneficial to promoting traffic safety.
As a further example, the above measured data/structured information may also be sent to the target vehicle 100, so that the processor of the target vehicle determines the driving route and the driving speed of the vehicle according to the above information, i.e. the decision is implemented by the traffic participants in combination with the structured information. The method can efficiently utilize the measured data/structured information and realize efficient and safe road decision planning.
The data processor 130 may be disposed in each roadside measuring device, for example, the measuring device 110. That is, the execution subject of the embodiment provided in the present specification is a roadside measurement apparatus. Because the road structural information belongs to safety sensitive information, in order to ensure the data safety of the road structural information, the planning decision of the driving path of the traffic participant is realized by edge computing equipment in combination with the internet of things technology such as edge computing and the like and the information of the traffic participant acquired by a vehicle to road side unit (V2R) system, so that the determination of a control area and the display control of traffic identification in the control area are realized.
In an exemplary embodiment, fig. 2 shows a flow chart of a control method of vehicle travel in an exemplary embodiment of the present disclosure. Referring to fig. 2, the method includes: S210-S230.
In S210, structured information corresponding to the target road is determined, and the structured information includes: the structured information includes: the position information of the target vehicle in the target road, the driving direction of the target vehicle and the obstacle information of the distance within the range of a second preset threshold value of the target vehicle.
Illustratively, the structured information includes the location, speed, and type (e.g., pedestrian, vehicle, etc.) of the traffic participant on the target road. The above structured information further includes { Position, Lanes, Type, Status, KeyPoints, Polygons } of the traffic sign in the target road, as in the above embodiment.
In S220, when the target vehicle is driven to the intersection of the target road and the distance between the target vehicle and the intersection is greater than a first preset threshold, a first control area is determined according to the obstacle information within a range of a second preset threshold in the driving direction of the target vehicle, and the first preset threshold is greater than the second preset threshold.
Since the probability of crossing the road at the intersection of the road is relatively high, the distance between the vehicle and the intersection is taken as a factor for determining the control region in the present embodiment.
The distance may be an actual distance or a distance predicted according to a preset rule, and this embodiment is not limited.
In the present embodiment, when the target vehicle is driven to the intersection of the target road and the distance between the target vehicle and the intersection is greater than the first preset threshold, that is, when the target vehicle is located farther from the intersection of the target road, the control area is determined in consideration of the obstacle information in order to provide traffic guidance for the target vehicle with pertinence and more accurately. Specifically, the obstacle information within the range of the second preset threshold value in the traveling direction of the target vehicle determines a control region (to be distinguished from the "second control region" hereinafter, referred to as "first control region").
Further, in S230, the display color of the traffic sign within the first control area is controlled such that the target vehicle travels based on the display color of the traffic sign, the traffic sign within the first control area including the lane line and the direction line.
For example, since the first preset threshold is greater than the second preset threshold, the coverage area of the first control area within the range of the second preset threshold in the traveling direction of the target vehicle does not include the intersection area, so that the present embodiment provides the scheme for controlling the display color of the lane line and the direction line in the area. For example, on the basis of controlling the display color, the display brightness of the related traffic sign can be increased, so that the traffic sign is more striking.
In an exemplary embodiment, a light strip may be disposed at each traffic sign, and the display brightness and color of the light strip are controlled, so as to display the display control of the corresponding traffic sign.
In the technical solution provided by the embodiment shown in fig. 2, the method is implemented based on roadside measurement equipment: the method comprises the steps of determining structural information corresponding to a target road, determining the distance between a target vehicle and an intersection of the target road according to the structural information, further determining a control area according to obstacle information within the range of a second preset threshold value in the driving direction of the target vehicle under the condition that the distance is longer, and controlling the display color of a traffic sign in the first control area. Therefore, the target vehicle running guide is realized, the intelligent degree of traffic management is effectively improved, and the traffic safety is favorably improved.
In an exemplary embodiment, fig. 3 shows a flow chart of a control method of vehicle travel in another exemplary embodiment of the present disclosure. The following detailed description of each step in the embodiment shown in fig. 2 is provided with reference to fig. 3, and the method includes:
s211, the road side measuring equipment acquires the structural information about the target road in an edge calculation mode.
As a specific implementation manner of S210, since the road structural information belongs to safety sensitive information, in this embodiment, in order to ensure data security of the road structural information, internet of things technologies such as edge calculation may be combined.
And S221, determining whether the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than a first preset threshold value.
Since the probability that the intersection of the road crosses the road is relatively high, in this embodiment, different schemes are executed according to whether the target vehicle is currently located at the intersection accessory. Specifically, the method comprises the following steps:
referring to fig. 4, it is judged in S221 that: when the target vehicle 100 is driven to the intersection 40 of the target road and the distance between the target vehicle and the intersection 40 is greater than the first preset threshold (i.e., the vehicle is currently farther away from the intersection), further determining: and S222, determining whether an obstacle exists in the range of a second preset threshold value in the driving direction of the target vehicle.
For example, the scheme for determining whether an obstacle exists in the above range may be determined according to the image captured by the image capture device in real time, or may be determined according to point cloud data scanned by the laser radar. The obstacle is located in the same lane as the target vehicle.
Exemplarily, in S222, it is determined that: in the case where there is an obstacle 200 within the range of the second preset threshold value in the traveling direction of the target vehicle 100, performing: s223 and S231.
In S223, the area between the target vehicle and the obstacle is determined as a first control area. For example, referring to fig. 4, the area 10 between the target vehicle 100 and the obstacle 200 is the first control area. In S231, the display color of the traffic sign in the first control area is controlled to be transited from the second-level warning color to the first-level warning color, and the color brightness of the first-level warning color is greater than that of the second-level warning color. For example, since it is determined that the obstacle 200 exists in the short distance in front of the target vehicle 100, warning information needs to be provided for the target vehicle, and therefore in this embodiment, the target vehicle 100 is warned by controlling the display color of the traffic sign in the first control area. Specifically, the traffic sign in the first control area is controlled to display a high-warning color, and the traffic sign display color is changed from the second-level warning color a to the first-level warning color B in the direction from the target vehicle to the obstacle because the closer to the obstacle 200, the higher the risk factor. For example, the second-level warning color a may be yellow to warn the target vehicle 100 of slowing down, and the first-level warning color B may be red to warn the target vehicle 100 of stopping.
It should be noted that the range of the first control area is adaptively changed according to the movement of the target vehicle 100 and the obstacle 200, that is, the controlled traffic sign is also changed according to the area change, so as to provide an accurate warning signal for the target vehicle.
With continued reference to fig. 3, it is judged in S222 that: in the absence of the obstacle 200 within the range of the second preset threshold value in the traveling direction of the target vehicle 100, performing: s223 'and S231'.
In S223', a region of a second preset threshold value in the traveling direction of the target vehicle is determined as the first control region. For example, referring to fig. 5, the area 20 away from the second preset threshold in the traveling direction of the target vehicle 100 is the first control area. In S231', the display color of the traffic sign in the first control area is controlled to be the safe driving color. For example, since it is determined that there is no obstacle within a short distance in front of the target vehicle 100, there is a high possibility that the vehicle may not need to be decelerated or braked within this range. Therefore, the target vehicle 100 is notified in the present embodiment by controlling the display color of the traffic sign in the first control area to the safe running color C. Illustratively, the safe driving color C may be displayed as a highlighted green color.
It should be noted that, because the first preset threshold is greater than the second preset threshold, the range of the first control area does not cover the intersection area with a higher risk coefficient, thereby being beneficial to ensuring the traffic safety at the intersection.
With continued reference to fig. 3, it is judged in S221 that: the distance between the intersection 40 where the target vehicle 100 is driven to the target road and the intersection 40 is not greater than the first preset threshold (i.e., the vehicle is currently closer to the intersection). Specifically, the target vehicle 100 is currently closer to the intersection including both the cases of fig. 6a and 6 b. The situation shown in fig. 6a is specifically: the distance L between the intersection 40 and the intersection 40 at which the target vehicle 100 is driven toward the target road is smaller than the above-described first preset threshold value and larger than the second preset threshold value L2. The situation shown in fig. 6b is specifically: the distance L between the intersection 40 and the intersection 40 at which the target vehicle 100 is driven toward the target road is smaller than the first preset threshold value and smaller than the second preset threshold value L2.
Then further judging: and S224, determining whether an obstacle exists in the area between the target vehicle and the intersection. For example, the scheme for determining whether an obstacle exists in the above range may be determined according to the image captured by the image capture device in real time, or may be determined according to point cloud data scanned by the laser radar.
Exemplarily, it is determined in S224 that: in the case where there is no obstacle 200 in the area between the target vehicle 100 and the intersection, the following is performed: s225 and S232.
In S225, the area between the target vehicle and the intersection is determined as the second control area. Illustratively, referring to fig. 7, the area 30 between the target vehicle 100 and the intersection 40 is the second control area described above. In S232, the display color of the lane line 17 and the direction line 18 in the second control area is controlled to be changed from the second-level warning color a to the first-level warning color B, and the display color of the stop line 16 and the zebra crossing 15 in the second control area is controlled to be the first-level warning color B. For example, since it is determined that the intersection area 40 exists in the short distance in front of the target vehicle 100, it is necessary to provide warning information for the target vehicle 100, and therefore in this embodiment, the target vehicle 100 is warned by controlling the display color of the traffic sign in the second control area. Specifically, the traffic sign in the second control area is controlled to be displayed in a high-warning color, and since the closer to the intersection, the higher the risk factor, the display color of the lane line 17 and the direction line 18 in the second control area is controlled to be changed from the second-level warning color a to the first-level warning color B, and the display color of the stop line 16 and the zebra crossing 15 in the second control area is controlled to be the first-level warning color B, in the direction from the target vehicle 100 to the intersection. For example, the second-level warning color a may be yellow to warn the target vehicle 100 of slowing down, and the first-level warning color B may be red to warn the target vehicle 100 of stopping.
It should be noted that the range of the second control area is adaptively changed along with the change of the distance between the target vehicle 100 and the intersection, that is, the controlled traffic sign is also changed according to the area change, so as to provide an accurate warning signal for the target vehicle.
Continuing with reference to FIG. 3, illustratively, it is determined in S224: in the case where there is an obstacle 200 in the area between the target vehicle 100 and the intersection, the following is performed: s226 and S233, S233'.
In the present embodiment, since the target vehicle 100 is originally located closer to the intersection 40, the area between the target vehicle and the intersection still needs to be determined as the second control area. However, since the obstacle 200 still exists between the target vehicle 100 and the intersection 40, the second control area needs to be further subdivided, and the subdivided sub-control areas need to be controlled respectively, so that the control accuracy of the traffic sign is improved, and the traffic safety is improved. Specifically, the method comprises the following steps:
in S226, the region between the target vehicle and the intersection is determined as a second control region, and the region between the target vehicle and the obstacle is determined as a first sub-region in the second control region, and the region between the obstacle and the intersection is determined as a second sub-region in the second control region. Referring to fig. 8, the area 30 between the target vehicle 100 and the intersection 40 is still determined as the second control area, specifically, the area 301 between the target vehicle 100 and the obstacle 200 is a first sub-area in the second control area, and the area 302 between the obstacle 200 and the intersection 40 is determined as a second sub-area in the second control area.
The control of the traffic sign in the first control subarea is realized through S233, and the control of the traffic sign in the second control subarea is realized through S233':
in S233, the display colors of the lane line 17 and the direction line 18 in the first sub-area are controlled to transition from the second-level warning color a to the first-level warning color B; in S233', the display colors of the lane lines 17 and the direction lines 18 in the second sub-area are controlled to transition from the second-level warning color a to the first-level warning color B, and the display colors of the stop lines 16 and the zebra stripes 15 in the second sub-area are controlled to be the first-level warning color B.
It should be noted that the range of the first control sub-area is adaptively changed along with the change of the distance between the target vehicle 100 and the obstacle 200, and the range of the second control sub-area is adaptively changed along with the change of the distance between the obstacle 200 and the intersection 40, that is, the controlled traffic sign is also changed according to the change of the area, so as to provide an accurate warning signal for the target vehicle.
In the embodiments corresponding to fig. 4 to 8, the embodiments of the present disclosure are directed to determining the control area and controlling the display of the traffic sign in the relevant area according to different traffic situations. Specifically, in the control scheme of vehicle travel proposed in the above embodiment, first, the distance between the target vehicle and the intersection where the risk factor is high is considered. In the case of being far/close from the intersection, the factor of whether an obstacle exists in front of the target vehicle is considered again. And the four traffic scenarios respectively corresponding to fig. 4, fig. 5, fig. 7 and fig. 8 are determined by combining the two aspects. And for each traffic scene, determining a proper control area according to the characteristics of the current traffic scene so as to control the display condition of the traffic sign in the area. Therefore, fine traffic guidance information is provided for traffic participants, and the intelligent traffic management scheme is favorable for greatly improving traffic safety.
In an exemplary embodiment, in order to cope with a scene of severe weather such as poor lighting conditions, when poor weather information (e.g., rain, fog, haze) is acquired, the display brightness of the traffic sign is increased. Referring to fig. 9, the brightness of a traffic sign such as a lane line is increased, and thus, the visibility of the traffic sign in bad weather is increased, thereby improving the safety of traffic participants.
Of course, in the case that weather information cannot be acquired currently, in order to improve visibility of the traffic sign, the display brightness of the traffic sign may be controlled to increase.
As another alternative embodiment, when the weather information cannot be retrieved from the current sensor, the weather information in the preset area range may also be retrieved from the control platform or other control centers, and the display brightness of the traffic sign is controlled according to the weather condition in the preset range.
As another alternative embodiment, the adjustment of the display brightness of the traffic sign may also be controlled according to a preset rule, which is not limited in this application.
For example, in consideration of energy, a region away from the target vehicle by a third preset threshold may be determined as a third control region, and the display brightness of the traffic sign in the third control region may be controlled according to the weather information.
In an exemplary embodiment, for the weather such as snow or frost, if the traffic sign supports the heating function, the heating of the traffic sign itself may be implemented, so as to avoid the traffic problem caused by the traffic sign shading or blurring due to the weather such as snow or frost.
With continued reference to fig. 3, after determining the structured information corresponding to the target road, S240 may be further performed: and processing the structured information through the road side measuring equipment to obtain path planning decision information about the target vehicle, and sending the path planning decision information to the target vehicle so as to enable the target vehicle to make a journey according to the path planning decision information.
In this embodiment, the structured information corresponding to the road may be stored in the database 140, and further, in addition to controlling the display of the related traffic sign according to the structured information and providing the traffic guidance for the target vehicle according to the manner of the above embodiment, the structured information may be directly sent to the traffic participant (e.g., the target vehicle), and the traffic participant may implement the decision of the driving route (e.g., overtaking, decelerating, etc.) by combining the structured information.
It should be noted that, since the road structural information belongs to the safety sensitive information, in order to ensure the data safety of the road structural information, the route planning decision information of the traffic participants can be implemented by the edge computing device (roadside measurement) in combination with the internet of things technology such as edge computing and the like and in combination with the information of the traffic participants acquired by the V2R system. Further, the path planning decision information is sent to an intelligent transportation participant (target vehicle) for execution, and the global information can be efficiently utilized in the mode, so that efficient and safe road decision planning is realized; in addition, the complexity of the planning decision of the intelligent transportation can be transferred to the public infrastructure, and the complexity of the vehicle is reduced.
It is to be noted that the above-mentioned figures are only schematic illustrations of the processes involved in the method according to an exemplary embodiment of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 10 is a schematic structural diagram of a control device for vehicle running to which an embodiment of the present disclosure can be applied. Referring to fig. 10, the control device for vehicle driving shown in the figure may be implemented by software, hardware or a combination of both as all or part of an electronic device (e.g., each roadside measuring device), and may be integrated as a separate module in the electronic device or on a server.
The control device 1000 for vehicle travel according to the embodiment of the present disclosure includes: a structured information acquisition module 1010, a first control region determination module 1020, and a display control module 1030.
The structured information obtaining module 1010 is configured to: determining structural information corresponding to a target road, wherein the structural information comprises: the structured information includes: position information of a target vehicle in the target road, obstacle information in a traveling direction of the target vehicle and within a range of a second preset threshold from the target vehicle; the first control region determining module 1020 is configured to: determining a first control area according to obstacle information within a range of a second preset threshold value in the driving direction of the target vehicle when the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than the first preset threshold value, wherein the first preset threshold value is greater than the second preset threshold value; and, the display control module 1030 is configured to: and controlling the display color of the traffic sign in the first control area so that the target vehicle travels based on the display color of the traffic sign, wherein the traffic sign in the first control area includes a lane line and a direction line.
In an exemplary embodiment, fig. 11 schematically shows a configuration diagram of a control apparatus for vehicle travel according to another exemplary embodiment. Please refer to fig. 11:
in an exemplary embodiment, based on the foregoing scheme, the first control region determining module 1020 is specifically configured to: determining an area between the target vehicle and the obstacle as a first control area when the obstacle exists in the range of a second preset threshold value in the driving direction of the target vehicle; and the number of the first and second groups,
the display control module 1030 is specifically configured to: and controlling the display color of the traffic sign in the first control area to be transited from a second-level early warning color to a first-level early warning color, wherein the color brightness of the first-level early warning color is greater than that of the second level.
In an exemplary embodiment, based on the foregoing scheme, the first control region determining module 1020 is specifically configured to: determining a region of a second preset threshold value in the traveling direction of the target vehicle as a first control region in the case where no obstacle exists in the region of the second preset threshold value in the traveling direction of the target vehicle; and the number of the first and second groups,
the display control module 1030 is specifically configured to: and controlling the display color of the traffic sign in the first control area to be a safe driving color.
In an exemplary embodiment, based on the foregoing scheme, the structured information further includes: obstacle information of an area between the target vehicle and an intersection of the target road; the vehicle travel control device 1000 further includes: a second control region determination module 1040.
The second control region determining module 1040, configured to: determining a second control area according to the obstacle information of an area between the target vehicle and the intersection when the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is not larger than the first preset threshold; and the number of the first and second groups,
the display control module 1030 is further specifically configured to: controlling a display color of a traffic sign in the second control area so that the target vehicle travels based on the display color of the traffic sign, the traffic sign in the second control area including: stop lines, zebra crossings, lane markings and direction markings.
In an exemplary embodiment, based on the foregoing scheme, the second control region determining module 1040 is specifically configured to: determining a region between the target vehicle and the intersection as a second control region when no obstacle exists in the region between the target vehicle and the intersection; and the number of the first and second groups,
the display control module 1030 is specifically configured to: and controlling the display colors of the lane lines and the direction lines in the second control area to be changed from the second-level early warning color to the first-level early warning color, and controlling the display colors of the stop lines and the zebra stripes in the second control area to be the first-level early warning color.
In an exemplary embodiment, based on the foregoing scheme, the second control region determining module 1040 is specifically configured to: determining a region between the target vehicle and the obstacle as a first sub-region in a second control region and determining a region between the obstacle and the intersection as a second sub-region in the second control region, in a case where the obstacle exists in the region between the target vehicle and the intersection; and the number of the first and second groups,
the display control module 1030 is specifically configured to: and controlling the display colors of the lane lines and the direction lines in the first sub-area to be transited from a second-level early warning color to a first-level early warning color, controlling the display colors of the lane lines and the direction lines in the second sub-area to be transited from the second-level early warning color to the first-level early warning color, and controlling the display colors of the stop lines and the zebra stripes in the second sub-area to be the first-level early warning color.
In an exemplary embodiment, based on the foregoing scheme, the structured information further includes: weather information corresponding to the target vehicle running on the target road; the display control module 1030 is further specifically configured to: determining a region which is a third preset threshold value away from the target vehicle as a third control region; and controlling the display brightness of the traffic sign in the third control area according to the weather information.
In an exemplary embodiment, based on the foregoing, the control device 1000 for vehicle running further includes: a sending module 1050.
The sending module 1050 is configured to: after the structured information corresponding to the target road is determined, the road side measuring equipment processes the structured information to obtain path planning decision information about the target vehicle, and sends the path planning decision information to the target vehicle, so that the target vehicle makes a trip according to the path planning decision information.
In an exemplary embodiment, based on the foregoing solution, roadside measurement devices are distributed on both sides of the target road; the above structured information obtaining module 1010 is specifically configured to: the road side measuring equipment acquires the structural information corresponding to the target road in an edge calculation mode.
It should be noted that, when the control device for vehicle running provided in the above embodiment executes the control method for vehicle running, only the division of the above functional modules is taken as an example, and in practical applications, the above functions may be distributed to different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions. In addition, the control device for vehicle running and the control method for vehicle running provided by the above embodiments belong to the same concept, and therefore, for details that are not disclosed in the embodiments of the device of the present disclosure, please refer to the embodiments of the control method for vehicle running disclosed in the present disclosure, which are not described herein again.
The above-mentioned serial numbers of the embodiments of the present disclosure are merely for description and do not represent the merits of the embodiments.
The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method of any of the preceding embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
The embodiment of the present disclosure further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of any of the above-mentioned embodiments of the method are implemented.
FIG. 12 schematically illustrates a block diagram of an electronic device in an exemplary embodiment according to the present disclosure. Referring to fig. 12, an electronic device 1200 includes: a processor 1201 and a memory 1202.
In the embodiment of the present disclosure, the processor 1201 is a control center of a computer system, and may be a processor of an entity machine or a processor of a virtual machine. The processor 1201 may include one or more processing cores, such as a 4-core processor, a 12-core processor, or the like. The processor 1201 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1201 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.
In an embodiment of the present disclosure, the processor 1201 is specifically configured to:
determining structural information corresponding to a target road, wherein the structural information comprises: position information of a target vehicle in the target road, obstacle information in a traveling direction of the target vehicle and within a range of a second preset threshold from the target vehicle; determining a first control area according to obstacle information within a range of a second preset threshold value in the driving direction of the target vehicle when the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than the first preset threshold value, wherein the first preset threshold value is greater than the second preset threshold value; and controlling a display color of a traffic sign in the first control area so that the target vehicle travels based on the display color of the traffic sign, the traffic sign in the first control area including a lane line and a direction line.
Further, the determining a first control area according to the obstacle information within the range of the second preset threshold value in the driving direction of the target vehicle includes: determining an area between the target vehicle and the obstacle as a first control area when the obstacle exists in the range of a second preset threshold value in the driving direction of the target vehicle; and (c) a second step of,
controlling the display color of the traffic sign in the first control area, comprising: and controlling the display color of the traffic sign in the first control area to be transited from a second-level early warning color to a first-level early warning color, wherein the color brightness of the first-level early warning color is greater than that of the second-level early warning color.
Further, the determining a first control area according to the obstacle information within the range of the second preset threshold value in the driving direction of the target vehicle includes: determining a region of a second preset threshold value in the traveling direction of the target vehicle as a first control region in the case where no obstacle exists in the region of the second preset threshold value in the traveling direction of the target vehicle; and the number of the first and second groups,
controlling the display color of the traffic sign in the first control area, comprising: and controlling the display color of the traffic sign in the first control area to be a safe driving color.
Further, the structured information further includes: obstacle information of an area between the target vehicle and an intersection of the target road;
the processor 1201 is further specifically configured to:
determining a second control area according to the obstacle information of an area between the target vehicle and the intersection when the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is not larger than the first preset threshold; and the number of the first and second groups,
controlling a display color of a traffic sign in the second control area so that the target vehicle travels based on the display color of the traffic sign, the traffic sign in the second control area including: stop lines, zebra crossings, lane markings and direction markings.
Further, the determining a second control area according to the obstacle information of the area between the target vehicle and the intersection includes: determining an area between the target vehicle and the intersection as a second control area when no obstacle exists in the area between the target vehicle and the intersection; and (c) a second step of,
controlling the display color of the traffic sign in the second control area, comprising: and controlling the display color of the lane lines and the direction lines in the second control area to be transited from the second-level early warning color to the first-level early warning color, and controlling the display color of the stop lines and the zebra stripes in the second control area to be the first-level early warning color.
Further, the determining a second control area according to the obstacle information of the area between the target vehicle and the intersection includes: determining a region between the target vehicle and the obstacle as a first sub-region in a second control region and determining a region between the obstacle and the intersection as a second sub-region in the second control region when the obstacle exists in the region between the target vehicle and the intersection; and the number of the first and second groups,
controlling the display color of the traffic sign in the second control area includes: and controlling the display colors of the lane lines and the direction lines in the first sub-area to be transited from a second-level early warning color to a first-level early warning color, controlling the display colors of the lane lines and the direction lines in the second sub-area to be transited from the second-level early warning color to the first-level early warning color, and controlling the display colors of the stop lines and the zebra stripes in the second sub-area to be the first-level early warning color.
Further, the structured information further includes: weather information corresponding to the target vehicle running on the target road;
the processor 1201 is further specifically configured to:
determining a region which is a third preset threshold value away from the target vehicle as a third control region; and controlling the display brightness of the traffic sign in the third control area according to the weather information.
Further, the processor 1201 is further specifically configured to:
after the structured information corresponding to the target road is determined, the road side measuring equipment processes the structured information to obtain path planning decision information about the target vehicle, and sends the path planning decision information to the target vehicle, so that the target vehicle makes a trip according to the path planning decision information.
Furthermore, roadside measuring equipment is distributed on both sides of the target road; the structural information corresponding to the determined target road includes: the road side measuring equipment acquires the structural information corresponding to the target road in an edge calculation mode.
In some embodiments, the electronic device 1200 further comprises: a peripheral interface 1203 and at least one peripheral. The processor 1201, memory 1202, and peripheral interface 1203 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 1203 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a display 1204, a camera 1205, and an audio circuit 1206.
The peripheral interface 1203 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 1201 and the memory 1202. In some embodiments of the present disclosure, the processor 1201, memory 1202, and peripheral interface 1203 are integrated on the same chip or circuit board; in some other embodiments of the present disclosure, any one or both of the processor 1201, the memory 1202, and the peripheral interface 1203 may be implemented on separate chips or circuit boards. The embodiments of the present disclosure are not particularly limited in this regard.
The display 1204 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 1204 is a touch display, the display 1204 also has the ability to capture touch signals on or over the surface of the display 1204. The touch signal may be input to the processor 1201 as a control signal for processing. At this point, the display 1204 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments of the present disclosure, the display 1204 may be one, providing the front panel of the electronic device 1200; in other embodiments of the present disclosure, the number of the display screens 1204 may be at least two, and the at least two display screens are respectively disposed on different surfaces of the electronic device 1200 or in a folding design; in still other embodiments of the present disclosure, the display 1204 may be a flexible display disposed on a curved surface or a folded surface of the electronic device 1200. Even further, the display 1204 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display 1204 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The camera 1205 is used to capture images or video. Optionally, the cameras 1205 include front cameras and rear cameras. Generally, a front camera is disposed on a front panel of an electronic apparatus, and a rear camera is disposed on a rear surface of the electronic apparatus. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments of the present disclosure, the camera 1205 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The power supply 1207 is used to power various components in the electronic device 1200. The power source 1207 may be alternating current, direct current, disposable or rechargeable. When the power source 1207 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.
The block diagram of the electronic device shown in the embodiments of the present disclosure does not constitute a limitation on the electronic device 1200, and the electronic device 1200 may include more or fewer components than those shown, or combine some components, or adopt a different arrangement of components.
In the description of the present disclosure, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present disclosure can be understood in a specific case to those of ordinary skill in the art. Further, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Accordingly, all equivalent changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (12)
1. A control method of vehicle running, characterized by being applied to a roadside measurement device, the method comprising:
determining structural information corresponding to a target road, wherein the structural information comprises: position information of a target vehicle in the target road, obstacle information in a driving direction of the target vehicle and within a range of a second preset threshold of the target vehicle;
determining a first control area according to obstacle information within a range of a second preset threshold value in the driving direction of the target vehicle under the condition that the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than the first preset threshold value, wherein the first preset threshold value is greater than the second preset threshold value;
controlling a display color of a traffic sign within the first control area to cause the target vehicle to travel based on the display color of the traffic sign, the traffic sign within the first control area including a lane line and a direction line.
2. The method according to claim 1, wherein determining a first control area based on obstacle information within a range of a second preset threshold in the direction of travel of the target vehicle comprises:
determining an area between the target vehicle and an obstacle as a first control area under the condition that the obstacle exists in the range of a second preset threshold value in the driving direction of the target vehicle;
controlling a display color of traffic signs within the first control area, comprising:
and controlling the display color of the traffic sign in the first control area to be transited from a second-level early warning color to a first-level early warning color, wherein the color brightness of the first-level early warning color is greater than that of the second level.
3. The method according to claim 1, wherein determining a first control area based on obstacle information within a range of a second preset threshold in the direction of travel of the target vehicle comprises:
determining a region of a second preset threshold value in the driving direction of the target vehicle as a first control region in the case where no obstacle exists in the region of the second preset threshold value in the driving direction of the target vehicle;
controlling a display color of traffic signs within the first control area, comprising:
and controlling the display color of the traffic sign in the first control area to be a safe driving color.
4. The method of claim 1, wherein the structured information further comprises: obstacle information of an area between the target vehicle and an intersection of the target road; the method further comprises the following steps:
determining a second control area according to the obstacle information of an area between the target vehicle and the intersection under the condition that the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is not larger than the first preset threshold;
controlling a display color of a traffic sign within the second control area to cause the target vehicle to travel based on the display color of the traffic sign, the traffic sign within the second control area including: stop lines, zebra crossings, lane markings and direction markings.
5. The method of claim 4, wherein said determining a second control area based on obstacle information for an area between the target vehicle and the intersection comprises:
determining an area between the target vehicle and the intersection as a second control area under the condition that no obstacle exists in the area between the target vehicle and the intersection;
controlling a display color of traffic signs within the second control area, including:
and controlling the display colors of the lane lines and the direction lines in the second control area to be transited from the second-level early warning color to the first-level early warning color, and controlling the display colors of the stop lines and the zebra stripes in the second control area to be the first-level early warning color.
6. The method of claim 4, wherein said determining a second control area based on obstacle information for an area between the target vehicle and the intersection comprises:
determining a region between the target vehicle and the obstacle as a first sub-region in a second control region and determining a region between the obstacle and the intersection as a second sub-region in the second control region, in the case where the obstacle exists in the region between the target vehicle and the intersection;
controlling a display color of traffic signs within the second control area, including:
and controlling the display colors of the lane lines and the direction lines in the first sub-area to be transited from the second-level early warning color to the first-level early warning color, controlling the display colors of the lane lines and the direction lines in the second sub-area to be transited from the second-level early warning color to the first-level early warning color, and controlling the display colors of the stop lines and the zebra stripes in the second sub-area to be the first-level early warning color.
7. The method of claim 1, wherein the structured information further comprises: weather information corresponding to the target vehicle running on the target road; the method further comprises the following steps:
determining an area which is a third preset threshold value away from the target vehicle as a third control area;
and controlling the display brightness of the traffic sign in the third control area according to the weather information.
8. The method according to any one of claims 1 to 7, wherein after the determining the structured information corresponding to the target road, the method further comprises:
and processing the structured information through the roadside measuring equipment to obtain path planning decision information about the target vehicle, and sending the path planning decision information to the target vehicle so as to enable the target vehicle to make a journey according to the path planning decision information.
9. The method according to any one of claims 1 to 7, wherein roadside measurement equipment is distributed on both sides of the target road; the structural information corresponding to the determined target road comprises the following steps:
and the road side measuring equipment acquires the structural information corresponding to the target road in an edge calculation mode.
10. A control apparatus for running of a vehicle, characterized by comprising:
a structured information acquisition module to: determining structural information corresponding to a target road, wherein the structural information comprises: the structured information includes: position information of a target vehicle in the target road, obstacle information in a driving direction of the target vehicle and within a range of a second preset threshold of the target vehicle;
a first control region determination module to: determining a first control area according to obstacle information within a range of a second preset threshold value in the driving direction of the target vehicle under the condition that the target vehicle drives to the intersection of the target road and the distance between the target vehicle and the intersection is greater than the first preset threshold value, wherein the first preset threshold value is greater than the second preset threshold value;
a display control module to: controlling a display color of a traffic sign within the first control area to cause the target vehicle to travel based on the display color of the traffic sign, the traffic sign within the first control area including a lane line and a direction line.
11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the control method of vehicle travel according to any one of claims 1 to 9 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a control method of vehicle travel according to any one of claims 1 to 9.
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| CN206691107U (en) * | 2017-03-08 | 2017-12-01 | 深圳市速腾聚创科技有限公司 | Pilotless automobile system and automobile |
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